From 28352f6c64bb38f8ab8c3082dcecc8cac4f5f3ac Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <amirych@gmail.com>
Date: Thu, 12 Mar 2026 23:50:47 +0300
Subject: [PATCH] ...

---
 include/mcc/mcc_generic_movecontrols.h | 74 ++++++++++++++++++++++----
 1 file changed, 64 insertions(+), 10 deletions(-)

diff --git a/include/mcc/mcc_generic_movecontrols.h b/include/mcc/mcc_generic_movecontrols.h
index b95e4b8..537a42a 100644
--- a/include/mcc/mcc_generic_movecontrols.h
+++ b/include/mcc/mcc_generic_movecontrols.h
@@ -339,7 +339,7 @@ public:
     void stopAsyncMovementCycle(this SelfT&& self)
         requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
     {
-        self->_fsmState = STATE_IDLE;
+        *self._fsmState = STATE_IDLE;
         self._fstStopSource.request_stop();
 
         self._wakeupRequest->test_and_set();
@@ -353,7 +353,7 @@ public:
     }
 
     template <typename SelfT>
-    void startAsyncMovementCycle(this SelfT&& self)
+    void startAsyncMovementCycle(this SelfT& self)
         requires(EXEC_POLICY == MccGenericMovementControlsPolicy::POLICY_ASYNC)
     {
         using self_t = std::decay_t<SelfT>;
@@ -362,15 +362,16 @@ public:
             self.stopAsyncMovementCycle();
         }
 
-        self->_stopMovementRequest = false;
+        *self._stopMovementRequest = false;
 
         self._fstStopSource = std::stop_source{};
 
-        self->_fsmState = STATE_IDLE;
+        *self._fsmState = STATE_IDLE;
 
         // start thread of movements
         self._fstFuture = std::async(
-            [&self](std::stop_token stoken) {
+            std::launch::async,
+            [&self](std::stop_token stoken) mutable {
                 auto do_state = self._fsmState->load();
 
                 std::string log_str;
@@ -379,7 +380,7 @@ public:
                     if constexpr (mcc_generic_mount_c<self_t>) {
                         self.logTrace(log_str);
                     } else {
-                        std::println(log_str);
+                        std::println("{}", log_str);
                     }
 
                     // wait here ...
@@ -391,7 +392,7 @@ public:
                     if constexpr (mcc_generic_mount_c<self_t>) {
                         self.logTrace(log_str);
                     } else {
-                        std::println(log_str);
+                        std::println("{}", log_str);
                     }
 
                     // if (stoken.stop_requested()) {
@@ -402,17 +403,17 @@ public:
 
                     if (do_state & STATE_STOP) {
                         // if (_fsmState->load() & STATE_STOP) {
-                        self->_stopMovementRequest = true;
+                        *self._stopMovementRequest = true;
                         self._stopFunc();
                     }
 
                     if (do_state & STATE_SLEW) {
                         // if (_fsmState->load() & STATE_SLEW) {
-                        self->_stopMovementRequest = false;
+                        *self._stopMovementRequest = false;
                         self._slewFunc(self._slewAndStop->load());
                     } else if (do_state & STATE_TRACK) {
                         // } else if (_fsmState->load() & STATE_TRACK) {
-                        self->_stopMovementRequest = false;
+                        *self._stopMovementRequest = false;
                         self._trackFunc();
                     }
                 }
@@ -542,6 +543,59 @@ protected:
     std::unique_ptr<std::atomic_int> _fsmState{new std::atomic_int};
 
 
+    // template <typename SelfT>
+    // void mainCycle(this SelfT&& self, std::stop_token stoken)
+    // {
+    //     using self_t = std::decay_t<SelfT>;
+
+    //     auto do_state = _fsmState->load();
+
+    //     std::string log_str;
+
+    //     while (!stoken.stop_requested()) {
+    //         log_str = std::format("\n{:*^80}\n", "  WAIT LOCK  ");
+    //         if constexpr (mcc_generic_mount_c<self_t>) {
+    //             self.logTrace(log_str);
+    //         } else {
+    //             std::println(log_str);
+    //         }
+
+    //         // wait here ...
+    //         _wakeupRequest->wait(false, std::memory_order_relaxed);
+
+    //         _wakeupRequest->clear();
+
+    //         log_str = std::format("\n{:*^80}\n", "  UNLOCKED  ");
+    //         if constexpr (mcc_generic_mount_c<self_t>) {
+    //             self.logTrace(log_str);
+    //         } else {
+    //             std::println(log_str);
+    //         }
+
+    //         // if (stoken.stop_requested()) {
+    //         //     break;
+    //         // }
+
+    //         do_state = _fsmState->load();
+
+    //         if (do_state & STATE_STOP) {
+    //             // if (_fsmState->load() & STATE_STOP) {
+    //             *_stopMovementRequest = true;
+    //             _stopFunc();
+    //         }
+
+    //         if (do_state & STATE_SLEW) {
+    //             // if (_fsmState->load() & STATE_SLEW) {
+    //             *_stopMovementRequest = false;
+    //             _slewFunc(_slewAndStop->load());
+    //         } else if (do_state & STATE_TRACK) {
+    //             // } else if (_fsmState->load() & STATE_TRACK) {
+    //             *_stopMovementRequest = false;
+    //             _trackFunc();
+    //         }
+    //     }
+    // }
+
     // utility methods
 
     // the method calculates the change in coordinates of a point over a given time given the current speed and braking